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Best way to run a hoverboard motor that has an AB encoder and Hall sensors, but no index?

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PaulMakesThings
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Joined: 2021-10-13 08:51
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Best way to run a hoverboard motor that has an AB encoder and Hall sensors, but no index?

I'm trying to set up to use this motor which apparently has no Index line. I have an FSESC V4.12. and V4.20.

My goal is to get smooth movement at low speed. From barely a crawl to 4 mph, maybe 6 mph tops. So for this wheel that works out to about 300 RPM. I need to avoid cogging.

The robot is also pretty heavy. Full loaded maybe 200 lbs.

What option is likely to work the best? I could just use the Halls, but then I think FOC is out, if possible to do FOC without an index I'd like to hear how, or I could stick a magnet on the wheel and add a one channel hall sensor. The last option may sound like a pain, but there is a decent spot to mount the hall and I have hall sensors and small neodymium magnets on hand.

Here's the motor data sheet;

https://skysedge.com/robotics/robowheel170/RoboWheel170_Datasheet.pdf

To paste the relevant part of the datasheet:

Operating voltage range: 7-42V

Recommended voltage range: 30-40V Kv rating: 10 (yes ten)

RPM/V Diameter: 170mm (of tread, approximate)

Pole count: 27

Winding resistance: 1.7Ω

Encoder resolution: 3200 pulses per revolution

Encoder type: Optical, quadrature

Encoder voltage: 5V

I was disappointed to see that it doesn't include an index.